cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
set(ROS_BUILD_TYPE Debug)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_library(visodutil src/camera_params.cpp)

rosbuild_add_library(feature_matcher src/feature_matcher.cpp)
rosbuild_add_library(triangulation src/triangulation.cpp)
rosbuild_add_library(feature_extractor src/feature_extractor.cpp)
target_link_libraries(feature_extractor feature_matcher triangulation)

rosbuild_add_library(motion_solver src/motion_solver_p3p.cpp src/motion_solver_ransac.cpp)

#set(SOLVER_METHODS_SRC src/solver_method_arun.cpp)
rosbuild_add_library(motion_estimator src/motion_estimator.cpp src/solver_method.cpp)
target_link_libraries(motion_estimator feature_matcher motion_solver)

rosbuild_add_library(visod src/vis_odometer.cpp)
target_link_libraries(visod visodutil feature_extractor motion_estimator)

rosbuild_add_executable(image_publisher src/image_publisher.cpp) 
rosbuild_add_executable(image_subscriber src/image_subscriber.cpp)
target_link_libraries(image_subscriber visod)

rosbuild_add_executable(autorun src/autorun.cpp)
target_link_libraries(autorun visod)

#file(GLOB LIBVISOD_SRC src/visod/*.cpp)
#rosbuild_add_library(visod ${LIBVISOD_SRC})
#target_link_libraries(visod visodutil)
#target_link_libraries(image_subscriber visod)

